Implemented the interface names fixed in the controller --> only tf_prefix is passed as param to moprim forward controller

Author: mathias31415

ur_robot_driver/config/ur_controllers.yaml

@@ -194,32 +194,5 @@ tool_contact_controller:
 
 motion_primitive_forward_controller:
   ros__parameters:
-    command_interfaces:
-      - $(var tf_prefix)motion_primitive/motion_type
-      - $(var tf_prefix)motion_primitive/q1
-      - $(var tf_prefix)motion_primitive/q2
-      - $(var tf_prefix)motion_primitive/q3
-      - $(var tf_prefix)motion_primitive/q4
-      - $(var tf_prefix)motion_primitive/q5
-      - $(var tf_prefix)motion_primitive/q6
-      - $(var tf_prefix)motion_primitive/pos_x
-      - $(var tf_prefix)motion_primitive/pos_y
-      - $(var tf_prefix)motion_primitive/pos_z
-      - $(var tf_prefix)motion_primitive/pos_qx
-      - $(var tf_prefix)motion_primitive/pos_qy
-      - $(var tf_prefix)motion_primitive/pos_qz
-      - $(var tf_prefix)motion_primitive/pos_qw
-      - $(var tf_prefix)motion_primitive/pos_via_x
-      - $(var tf_prefix)motion_primitive/pos_via_y
-      - $(var tf_prefix)motion_primitive/pos_via_z
-      - $(var tf_prefix)motion_primitive/pos_via_qx
-      - $(var tf_prefix)motion_primitive/pos_via_qy
-      - $(var tf_prefix)motion_primitive/pos_via_qz
-      - $(var tf_prefix)motion_primitive/pos_via_qw
-      - $(var tf_prefix)motion_primitive/blend_radius
-      - $(var tf_prefix)motion_primitive/velocity
-      - $(var tf_prefix)motion_primitive/acceleration
-      - $(var tf_prefix)motion_primitive/move_time
-    state_interfaces:
-      - $(var tf_prefix)motion_primitive/execution_status
-      - $(var tf_prefix)motion_primitive/ready_for_new_primitive
+    tf_prefix: "$(var tf_prefix)"
+